Field-assembled soft gripping for industrial and collaborative robots

ABSTRACT

A soft robotic gripper having component parts capable of being assembled in the field at the terminus of an industrial robot arm for providing adaptive gripping of a product. A hub includes a pneumatic inlet leading to outlets. Finger mounts with pneumatic passages hold inflatable fingers, and tension fastener(s) secure and compress the finger mounts toward the hub by passing through the pneumatic passages and fastening under tension in a direction of the hub.

RELATED APPLICATIONS

This application claims priority to U.S. Provisional Patent ApplicationSer. No. 62/648,597, filed on Mar. 27, 2018, entitled “SINGLE FINGERMODULE DESIGNS”; to, U.S. Provisional Patent Application Ser. No.62/664,765, filed on Apr. 30, 2018, entitled “SINGLE FINGER MODULEDESIGNS”; and to U.S. Provisional Patent Application Ser. No.62/795,892, filed on Jan. 23, 2019, entitled “FIELD-ASSEMBLED SOFTGRIPPING FOR INDUSTRIAL AND COLLABORATIVE ROBOTS” The contents of theaforementioned applications are incorporated herein by reference.

FIELD OF THE DISCLOSURE

The disclosure relates generally to industrial and collaborative roboticgripping solutions, and to novel structures useful in general and infood contact automation.

BACKGROUND

Many food articles, particularly with fresh foods, tend to bevulnerable—to damage or bruise easily. Special-purpose conveying andprocessing equipment for vulnerable or different-shaped articles is notuncommon. However, robot manipulators or arms (e.g., industrial orcollaborative robots) often fail to solve the distinct problems of highacceleration handling of food, such as moving vulnerable foods at highacceleration while avoiding bruising or deformation, or handling highvariability in shape, size, and mass.

For this reason, among others, in food handling businesses, industrialrobotics have not been adopted as widely or rapidly as in manufacturingor more durable or robust items. Similarly, in non-food businesses withsimilarly challenging items to be picked and placed—vulnerable ordeformable or different-shaped articles—adoption has lagged fields withmore robust, predictable workpieces.

Sometimes, even more constraints apply—some handling environmentsrequire food contact design, hygienic design and/or washdown capability.

Inflatable soft robotic grippers are capable of constraining, grasping,picking and placing diverse food shapes and sizes with adaptive and/oradaptively conformal gripping, with non-bruising and non-deformingforces. However, no high-acceleration current solution in robust,industrial soft robotics synergistically or simultaneous solves enoughdomain problems to compel rapid adoption. In addition, none is amenableto field assembly and field deployment in food contact, hygienic and/orwashdown environments.

SUMMARY

Exemplary embodiments relate to apparatuses and methods for providingsoft robotic gripping solutions for gripping or grasping a target objector article.

According to one aspect of an embodiment of the present invention, asoft robotic gripper may include component parts capable of beingassembled for or at the terminus of an industrial robot arm, forproviding adaptive gripping of a product. The soft robotic gripper mayinclude a hub capable of mounting to the terminus of the robotic arm,the hub having a pneumatic inlet formed therethrough leading to aplurality of outlets. A plurality of finger mount assemblies may be.pneumatically coupled to respective outlets. Each finger mount assemblymay be assembled to include an inflatable finger, a finger mount, one ormore pneumatic seals, and/or a tension fastener. The inflatable fingermay have having an elastomer body that receives pneumatic inflation andvacuum via a fluid port. The elastomer body may bend under inflation ina first direction and under vacuum in a second direction. The fingermount may include a pneumatic passage capable of connecting to the fluidport. The channel member, such as a coupling or spacer, may include apneumatic channel capable of connecting the pneumatic passage and arespective outlet. Two pneumatic seals may be capable of insertionsurrounding the pneumatic channel of the channel member. The tensionfastener may be capable of securing the finger mount to the hub.Securing the finger mount via the tension fastener may seal thepneumatic channel with the first pneumatic seal and the second pneumaticseal under compression.

Further optionally, the gripper may comprise first microbial ingressseals capable of insertion surrounding one of the two pneumatic seals,at each interface where an outer surface of the hub meets an outersurface of each respective finger mount, compressed between the hub andeach finger mount.

Alternatively, or in addition, the channel member, such as a coupling,may include a cylindrical tube (optionally non-cylindrical), and one ofthe pneumatic seals may be compressed (e.g., radially) between an outercylindrical wall of the tube and an inner cylindrical wall of areceiving receptacle in the finger mount. The remaining one of thepneumatic seals may be compressed (e.g., radially) between an outercylindrical wall of the tube and an inner cylindrical wall of areceiving receptacle in the hub. Optionally, the tension fastener maypass through a respective pilot protrusion of the finger mount and pilotreceptacle of the hub, and fastens under tension from the finger mountand in a direction of the hub.

Further alternatively, or in addition, the tension fastener may passthrough a respective pneumatic passage of the finger mount and an outletof the hub, and fastens under tension from the finger mount and in adirection of the hub. In some cases, the hub may be matched to thefinger mounts via a plurality of common mechanical interfaces matchingthe outlets to the pneumatic passages, and the channel member mayinclude at least one spacer. Each spacer may have a pneumatic interfacebridging between a respective outlet and pneumatic passage. Respectivetension fastener may pass through the pneumatic interface to secure arespective finger mount to the hub via the one or more spacers. One ormore spacers may be compressed (e.g., axially, and/or by the same forceapplied by the tension fastener, and/or within an accepting groove)between the respective finger mount and the hub.

The soft robotic gripper may optionally include a palm capable offorming a plenum chamber between the outlets of the hub and the palm,and a manifold of channels leading from the palm. Each pneumatic passageof each finger mount may be capable of pneumatically coupling arespective channel of the palm to a respective inflatable finger.Optionally, the hub may have a plurality of fastener anchors adjacentthe outlets, to which the tension fasteners are capable of beingsecured. In one example, each tension fastener may be capable ofsecuring a pair of finger mounts to the hub by passing throughrespective pneumatic passages of the pair of finger mounts and a pair ofoutlets of the hub, and may be capable of fastening under tension fromone finger mount to a remaining finger mount, compressing the hubbetween the one finger mount and the remaining finger mount. Thefastener anchors may each include a tapped hole formed in the hub, andthe tension fasteners may each include an elongated member havingmachine screw threads, mating to a receiving fastener.

According to another aspect of an embodiment of the present invention, amethod for assembling a soft robotic gripper may provide adaptivegripping of a product. The method may include arranging a finger mountincluding a passage capable of connecting to the fluid port togetherwith a hub having a pneumatic inlet formed therethrough leading to aplurality of outlets. The passage of the finger mount may be connectwith a respective outlet of the hub via a channel member including apneumatic channel. A compressible pneumatic seal may be arranged towardeach end of the pneumatic channel. The finger mount may be secured tothe hub in compression using a tension fastener to seal the pneumaticchannel with both pneumatic seals under compression (e.g., axial orradial). Optionally, the hub may be mounted to the terminus of a roboticarm, and the inflatable fingers may be pneumatically actuated via thepneumatic channel to bend under inflation in a first direction and undervacuum in a second direction.

Optionally, first microbial ingress seals may be inserted surrounding(e.g., having a larger diameter than, and along a parallel plane to) oneof the two pneumatic seals, at each interface where an outer surface ofthe hub meets an outer surface of each respective finger mount. Thefirst microbial ingress seals may be compressed (e.g., axially, and/orwithin an accepting groove) between the hub and each finger mount,optionally via the tension fastener.

Alternatively, or in addition, the channel member may include acylindrical tube. In such a case, one of the pneumatic seals may becompressed (e.g., radially) between an outer cylindrical wall of thetube and an inner cylindrical wall of a receiving receptacle in thefinger mount. The remaining one of the pneumatic seals may be compressed(e.g., radially) between an outer cylindrical wall of the tube and aninner cylindrical wall of a receiving receptacle in the hub.

Optionally, the tension fastener may be passed through a respectivepilot protrusion of the finger mount and pilot receptacle of the hub.Alternatively, or in addition, the tension fastener may be passedthrough a respective pneumatic passage of the finger mount and an outletof the hub.

In some examples, the hub may be matched to the finger mounts via aplurality of common mechanical interfaces matching the outlets to thepneumatic passages. In this case, the channel member may include one ormore spacers, each spacer having a pneumatic interface bridging betweena respective outlet and pneumatic passage. A respective tension fastenermay be passed through the pneumatic interface to secure a respectivefinger mount to the hub via the at least one spacer. One or more spacersmay be compressed (e.g., axially) between the respective finger mountand the hub. Optionally, a respective channel of a palm may bepneumatically coupled to a respective inflatable finger via a pneumaticpassage of each finger mount, the palm capable of forming a plenumchamber between the outlets of the hub and the palm, and a manifold ofchannels leading from the palm.

In another aspect of an embodiment of the invention, a soft roboticgripper may have component parts capable of being assembled for or atthe terminus of an industrial robot arm for providing adaptive grippingof an object. The soft robotic gripper may include a hub capable ofmounting to the terminus of the robotic arm, the hub having a pneumaticinlet formed therethrough leading to a radial outlet, and a fasteneranchor adjacent the radial outlet. A palm may have a plenum cavityformed therein, capable of forming a plenum chamber between the radialoutlet of the hub and the palm, and a manifold of radial channelscapable of facing respective fastener anchors when the plenum chamber isformed. Each inflatable finger of a plurality of inflatable fingers mayhave an elastomer body which bends under inflation in a first directionand under vacuum in a second direction, and a fluid port capable ofproviding pneumatic inflation and deflation. Each finger mount of aplurality of finger mounts may have a pneumatic passage capable ofconnecting a respective radial channel of the palm to a respectiveinflatable finger. Each tension fastener of a plurality of tensionfasteners may be capable of securing a respective finger mount to thepalm in compression by passing through a respective pneumatic passageand the plenum chamber and fastening under tension to the fasteneranchor.

Optionally, the palm may be matched to the finger mounts via a pluralityof common mechanical interfaces matching the radial channels to thepneumatic passages. One or more spacers may include a pneumaticinterface bridging between a respective radial channel and pneumaticpassage, a respective tension fastener passing through the pneumaticinterface to secure a respective finger mount to the palm via the one ormore spacers.

Further optionally, pneumatic seals capable of insertion surroundingeach matched radial channel and pneumatic passage may be compressed(e.g., axially, and/or within an accepting groove) between the palm andeach finger mount. In this case, first microbial ingress seals may becapable of insertion surrounding the pneumatic seal, at each interfacewhere an outer surface of the palm meets an outer surface of eachrespective finger mount, compressed (e.g., axially, and/or within anaccepting groove) between the palm and each finger mount.

Alternatively, or in addition, the hub may be formed as a lower hubincluding the radial outlet and the fastener anchor and an upper hubincluding the pneumatic inlet. The lower hub and upper hub may becapable of compressing the palm (e.g., “sandwiched” between the lowerand upper hub, with ingress seals compressed between each of the lowerand upper hub and the palm) and connecting the radial outlet to thepneumatic inlet.

Optionally, second pneumatic seals may be capable of insertionsurrounding the upper and lower hub and capable of compressively andpneumatically sealing the upper hub and lower hub to the palm. Furtheroptionally, second microbial ingress seals may be capable of insertionat each interface where an outer surface of the palm meets an outersurface of each of the respective upper hub and lower hub, compressedbetween the upper hub, palm, and lower hub.

In still another aspect of an embodiment of the present invention, asoft robotic gripper may have component parts capable of being assembledfor or at the terminus of an industrial robot arm for providing adaptivegripping of a product. The soft robotic gripper may include a hubcapable of mounting to the terminus of the robotic arm, the hub having apneumatic inlet formed therethrough leading to a plurality of outlets.Each inflatable finger of a plurality of inflatable fingers, may have anelastomer body which bends under inflation in a first direction andunder vacuum in a second direction, and a fluid port capable ofproviding pneumatic inflation and deflation. Each finger mount of aplurality of finger mounts may have a pneumatic passage capable ofconnecting a respective outlet of the hub to a respective inflatablefinger. Each tension fastener of one or more tension fasteners may becapable of securing a finger mount to the hub in compression by passingthrough a respective pneumatic passage of the finger mount and an outletof the hub, and fastening under tension from the finger mount and in adirection of the hub.

Optionally, the hub may be matched to the finger mounts via a pluralityof common mechanical interfaces matching the outlets to the pneumaticpassages. One or more spacers may each include a pneumatic interfacebridging between a respective outlet and pneumatic passage, a respectivetension fastener passing through the pneumatic interface to secure arespective finger mount to the hub via one or more spacers spacer, thespacer(s) being compressed between the respective finger mount and thehub.

In some examples, first pneumatic seals are capable of insertionsurrounding each matched outlet and pneumatic passage, compressedbetween the hub and each finger mount. Optionally, first microbialingress seals are capable of insertion surrounding the pneumatic seal,at each interface where an outer surface of the hub meets an outersurface of each respective finger mount, compressed between the hub andeach finger mount.

Alternatively, or in addition, the soft robotic gripper may include apalm capable of forming a plenum chamber between the outlets of the huband the palm, and a manifold of channels leading from the palm. Eachpneumatic passage of each finger mount may be capable of pneumaticallycoupling a respective channel of the palm to a respective inflatablefinger. In this case, the hub may have a plurality of fastener anchorsadjacent the outlets, to which the tension fasteners are capable ofbeing secured.

In some examples, each tension fastener may be capable of securing apair of finger mounts to the hub by passing through respective pneumaticpassages of the pair of finger mounts and a pair of outlets of the hub,and fastening under tension from one finger mount to a remaining fingermount, compressing the hub between the one finger mount and theremaining finger mount.

In each aspect of the embodiments of the present invention, the hub maybe formed from metal material, and the palm and finger mounts may have avolumetric mass density less than ½ that of the hub of metal material.

In each aspect of the embodiments of the present invention, fasteneranchors may each comprise a tapped hole formed in the hub, and thetension fasteners may each comprise an elongated member having machinescrew threads, mating to a receiving fastener.

In each aspect of the embodiments of the present invention, optionally,product contact areas of the finger may be as smooth or smoother thansubstantially 32 microinch average roughness (Ra) and non productcontact areas of the gripper as smooth or smoother than substantiallythan approximately 125 microinch (Ra).

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic side view of an adjustable or configurablesoft-robotic gripper.

FIGS. 2A-2C depict schematic side views of an adjustable or configurablesoft-robotic two-finger gripper, with FIG. 2A being in a widerconfiguration, FIG. 2B being a narrower configuration, and FIG. 2Cshowing mounting on a robot arm.

FIGS. 3A-3D depict schematic views of an adjustable or configurablesoft-robotic four-finger gripper, with FIG. 3A being a side schematicview in a wider configuration, FIG. 3B being a top schematic view in awider configuration, FIG. 3C being a side schematic view in a narrowerconfiguration, and FIG. 3D being a top schematic view in a narrowerconfiguration.

FIG. 4A shows a schematic side view of a field-assembled soft roboticgripper that includes provisions for lower mass, lower part count andsanitary sealing.

FIG. 4B is a perspective view of a conceptually similar field-assembledsoft robotic gripper to that of FIG. 4A.

FIG. 4C is an exploded perspective view of the field-assembled softrobotic gripper of FIG. 4B.

FIG. 5A is a schematic top view of a four-finger radial version of theconstruction shown in FIG. 4.

FIG. 5B is a schematic top view of a four-finger parallel version of theconstruction shown in FIG. 10.

FIG. 5C is a schematic top view of a four-interface parallelconfiguration similar to that of FIG. 5B, highlighting common mechanicalinterfaces.

FIG. 5D is a schematic top view of a four-interface radial configurationsimilar to that of FIG. 5A, highlighting common mechanical interfaces.

FIGS. 6A through 6D show schematic top views of different exemplaryradial arrangements of palm, spacers, and finger mounts.

FIGS. 7A through 7C show additional schematic top views of differentexemplary radial arrangements of palm, spacers, and finger mounts.

FIGS. 8A through 8C show additional schematic top views of differentexemplary parallel arrangements of hub or hub/palm, spacers, and fingermounts.

FIG. 9 is a schematic side view of a field-assembled soft roboticgripper similar to that of FIG. 4 having a radial and bezel-lessconfiguration.

FIG. 10 is a schematic side view of a field-assembled soft roboticgripper similar to that of FIG. 9 having a parallel and bezel-lessconfiguration.

FIG. 11 is a schematic side view of a field-assembled soft roboticgripper similar to that of FIG. 4 having a gasketed configuration.

FIG. 12 is a schematic side view of a field-assembled soft roboticgripper similar to that of FIG. 9 having a palm or bumper plate.

FIG. 13 is a schematic side view of a field-assembled soft roboticgripper similar to that of FIG. 9 having a sensor package.

FIG. 14 shows a configuration similar to those of FIGS. 4-13, exceptincluding an extendible vacuum cup effector 304 and camera.

FIG. 15A is a schematic side view of a field-assembled soft roboticgripper similar to that of FIGS. 9 and 10 employing an internalpneumatic coupling with paired radial seals.

FIG. 15B is a schematic side view of a field-assembled soft roboticgripper similar to that of FIG. 15A, employing an internal pneumaticcoupling with paired radial seals in a slidably adjustableconfiguration.

FIGS. 15C, D, and E are a schematic side views of a field-assembled softrobotic gripper similar to that of FIG. 15A, employing respectively anair puff block, an extensible vacuum cup block, and a camera blocktogether with internal pneumatic couplings with paired radial seals.

FIGS. 16A, B, C, and D are schematic side views of a variety of spacersand pneumatic couplings used in FIGS. 1-15, employing respectively astraight air passage, a filter, a flow constriction, and vibrationbaffles or damping.

FIGS. 17A, B, and C are schematic side views of a variety of spacersused in FIGS. 1-15, employing respectively a female-female coupling andsealing, a female-male coupling and sealing, and a dual fastenerconfiguration.

FIGS. 18A through 18E are schematic perspective views of afield-assembled soft robotic gripper similar to that of FIGS. 9, 10, 15Aand 15B.

FIGS. 19A, B, and C are schematic side views of a variety of fingermodules used in FIGS. 9, 10, 15A, 15B, and 18A-18E, employingrespectively a pneumatic coupling connection, a direct connectionwithout pneumatic coupling, and a pneumatic coupling via a spacer.

FIGS. 20A through 20D are schematic perspective views of a variety offield-assembled soft robotic grippers, including differentsize/interface hubs and finger modules.

FIG. 21 is a set of schematic perspective views of a variety offield-assembly compatible mounting interfaces capable of adapting themodular interface to different mountings, including direct mounting tocustom mounts and to T-slot or V-slot extruded rail systems.

FIG. 22 includes a flowchart describing an assembly method for thegrippers discussed herein, for assembling a soft robotic gripper toprovide adaptive gripping of a product.

FIG. 23 shows a schematic view of the gripper solutions discussed hereintogether with a robot arm 206, similar to FIG. 2C, although fluidrouting for the gripper fingers 100 is now internal to the gripper.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Soft Robotic Grippers

FIGS. 1A-1D depict various examples of soft robotic grippers.

Soft or inflatable fingers or grippers may move in a variety of ways.For example, inflatable fingers may bend, or may twist, as in theexample of the soft tentacle (“actuator”) described in U.S. patentapplication Ser. No. 14/480,106, entitled “Flexible Robotic Actuators”and filed on Sep. 8, 2014. In another example, soft or inflatablefingers may be linear actuators, as described in U.S. patent applicationSer. No. 14/801,961, entitled “Soft Actuators and Soft ActuatingDevices” and filed on Jul. 17, 2015. Still further, soft or inflatablefingers may be formed of sheet materials, as in U.S. patent applicationSer. No. 14/329,506, entitled “Flexible Robotic Actuators” and filed onJul. 11, 2014. In yet another example, soft or inflatable fingers may bemade up of composites with embedded fiber structures to form complexshapes, as in U.S. patent application Ser. No. 14/467,758, entitled“Apparatus, System, and Method for Providing Fabric Elastomer Compositesas Pneumatic Actuators” and filed on Aug. 25, 2014. One of ordinaryskill in the art will recognize that other configurations and designs ofsoft or inflatable fingers are also possible and may be employed withexemplary embodiments described herein.

Configurable Soft Grippers

As shown in FIG. 1 and FIGS. 2A-3D, soft gripper fingers 100 may be usedtogether with T-shaped modular rail systems, with the provision of afinger mount or interface 114 that allows two or more fingers 100 to bearranged into a tool using combinations of T-shaped rails and T-shaperail accessories. The interface 114 may be made of a food- ormedically-safe material, such as polyethylene, polypropylene,polycarbonate, polyetheretherketone, acrylonitrile-butadiene-styrene(“ABS”), or acetal homopolymer.

A soft robotic gripper may include one or more soft robotic members 100,which may take organic prehensile roles of finger 100, arm, tail, ortrunk, depending on the length and actuation approach. The presentdisclosure tends to use “finger” to describe the members 100, but anybendable soft robotic member may be used in place of a finger 100. Inthe case of inflating and/or deflating soft robotic members 100, two ormore members may extend from a hub 204, 304, and the hub 204, 304 mayinclude a manifold for distributing fluid (gas or liquid) to the grippermembers 100 and/or a plenum for stabilizing fluid pressure to themanifold and/or gripper members. The members 100 may be arranged like ahand, such that the soft robotic members act, when curled, as digitsfacing, a “palm” 204, 204 against which objects are held by the digits100; and/or the members may also be arranged like an cephalopod, suchthat the soft robotic members act as arms surrounding an additionalcentral hub actuator or sub-effector (suction, gripping, or the like).

As shown in FIG. 1 and FIGS. 2A-3D, a member or finger 100 may extendfrom a proximal end 112 to a distal end 110. The proximal end 112 mayconnect to a finger mount or interface 114. The finger mount 114 may bemade of a hygienic or food contact material, such as polyethylene,polypropylene, polycarbonate, polyetheretherketone,acrylonitrile-butadiene-styrene (“ABS”), or acetal homopolymer. Thefinger mount 114 may be releasably coupled to one or both of the finger100 and/or the flexible tubing 118, e.g., via a pneumatic coupling 224.The finger mount 114 houses and directs air to and from the finger 100via a port in the finger 100. Different finger mounts 114 may havedifferent sizes, numbers, or configurations of finger 100.

As shown in FIGS. 2A-2C, an inflatable finger 100 may be inflated withan inflation fluid, pneumatic or other, from an inflation device 120through flexible tubing 118. Where pneumatic inflation/deflation isdiscussed herein, except where constraints particular to pneumaticoperation are inherent or expressly discussed, other fluids may be used.The finger mount 114 may include or may be attached to a valve 116 forallowing air to enter the finger 100 but preventing air from exiting thefinger 100 (unless the valve 116 is opened). The flexible tubing 118 mayalso or alternatively attach to an inflator valve 124 at the inflationdevice or controller for regulating the supply of air and/or vacuum atthe location of the inflation device.

FIG. 2A depicts a side-view of a system in which two fingers 100 mountedto a rail system 202 form a robotic gripper. In this example, thefingers 100 are held to a length of the rail system using the mount 114,employing fasteners (e.g., bolts). FIG. 2B depicts a side view of thesame system after the fingers 100 have been slid along the rails 202 todecrease the gripping span (GSP) between the fingers 100. For example,the fasteners of the finger mounts 114 may be loosened to allow theactuators 100 to slide along the rail 202, which allows the end-effectorto be configured for objects of different size with the same device. Thefinger mounts 114 provide a sealed pneumatic inlet (e.g., quick changeor ferrule) for pressurizing and depressurizing the fingers 100 via thetubing 118.

The inflation device 120 may include a fluid supply 126, which may be areservoir for storing compressed air, liquefied or compressed carbondioxide, liquefied or compressed nitrogen or saline, or may be a ventfor supplying ambient air to the flexible tubing 118. The inflationdevice 120 may further includes fluid delivery device 128, such as apump or compressor, for supplying inflation fluid from the fluid supply126 to the actuator 100 through the flexible tubing 118. The fluiddelivery device 128 may be capable of supplying fluid to the actuator100 or withdrawing the fluid from the actuator 100. The fluid deliverydevice 128 may be powered by electricity.

As shown in FIG. 2C, an assembled effector may be secured to anindustrial or collaborative robot (e.g., robotic arm) 206 via a mountingflange 204 on the rail 202 in order to enable the arm 206 to pick andplace objects of interest. The mounting flange 204 on the rail 202 maybe configured to mate with a corresponding flange on the robotic arm 206to secure the end effector system robotic arm 206. An adapter 205 may beused to interface between the mounting flange 204 and differentmanufacturers' robot arm 206 mounts. A pneumatic passage may be providedthrough the mounting flange 204 to allow an inflation fluid to pass fromthe robotic arm 206 through the mounting flange 204, through the rail202 and into the actuators 100. It should be noted that this style ofadjustable gripper is not limited to the use of T-slot extrusion, othermodular rail mounting systems may provide similar functionality.

FIG. 2C depicts a particular example in which an end effector isdeployed on a robotic arm 206, but in some embodiments the fingers 100may be deployed on a gantry or other mechanism. FIGS. 2A-2C depictindividual fingers 100 that are relocatable, but the same principle maybe applied to groups of fingers 100 that are movable with respect toeach other. For example, the individual fingers of FIGS. 2A-2C could bereplaced with groups of fingers 100 forming gripping mechanisms. Themovement of the fingers 100 along the rail 202 (or other guidancemechanism) may be achieved manually (e.g., using adjustable components114 a that are moved by an operator) or automatically (e.g., using amotor, pneumatic feed, or other device suitable for effecting movementof the fingers 100).

The fingers 100 or grippers in this array may be driven in that theposition of a finger 100 or a gripper can be changed via the action of amachine. For example, the fingers 100 may be driven via a motor thatdrives a screw or belt that is attached to the fingers 100, or by apneumatically-actuated piston that is attached to the finger 100 orgripper.

Accordingly, T-slot extrusion may be used to create grippers for whichthe fingers 100 can be reconfigured in one dimension (as shown in FIGS.2A-2C), in two dimensions, and in three dimensions. For instance, FIG.3A depicts a side view of four soft inflatable fingers 100 mounted toT-slot extrusions 202 in an “X” pattern, where the fingers 100 are setto a close configuration. FIG. 3B depicts a top view of the grippersshown in FIG. 3A. In FIGS. 3C (side view) and 3D (top view), the fingers100 of FIGS. 3A-3B have been reconfigured to be spaced farther apart togrip a larger object.

The systems shown in FIGS. 2A-3C are perhaps most useful forprototyping, which is consistent with the general utility of T-shapedrails. In production environments, successful solutions are moreconstrained. For example, production solutions must generally be morelightweight so that the gripper weight is a smaller proportion of theentire tool payload, can be moved/spun at high speed especially betweenpicks, and/or are microbially ingress sealed and/or washable orsprayable.

FIG. 4A shows a schematic side view of a soft robotic gripper thatincludes provisions for lower weight, less mass toward the perimeter,and is structured for food contact sealing and other requirements. Asshown in FIG. 4A, the soft robotic gripper includes component partscapable of being assembled in the field at the terminus of an industrialrobot arm 206 for providing adaptive gripping of an object, such as afood product. FIG. 4B is a perspective view of a conceptually similarfield-assembled soft robotic gripper to that of FIG. 4A, and FIG. 4C isan exploded perspective view of the field-assembled soft robotic gripperof FIG. 4B, with like-numbered elements and similarly located andconfigured elements sharing the description of FIG. 4A herein. In theseveral Figures, radially symmetric, mirrored, or otherwise symmetricelements may not all be labeled with a reference number, and element ofidentical appearance and location will generally share the descriptionsof numbered elements herein.

The soft robotic gripper of FIG. 4A includes a hub 306, including anupper hub 306 a and lower hub 306 b. The hub 306 is capable of mountingto the terminus of the robotic arm 206, and includes a pneumatic inlet308 formed therethrough. The pneumatic inlet 308 leads to one or more(e.g., radial) outlets 316, and a fastener or tension anchor 324adjacent one or more radial outlets 382. In this case the fasteneranchor 324 may be, for example, a machine screw tapped hole to match themachine screw bolts or threaded rods described herein as an embodimentof a tension fastener 322 a, in other cases or embodiments it may beanother anchoring mechanism (a quick-connect, detent, set-screw, loop orhook, bayonet mount, or other mechanical anchor).

The hub 306 is surrounded by a palm 304, having a plenum clearance orcavity formed therein, capable of forming a plenum chamber 384 (in thisexample an annular one) between the radial outlets 382 of the hub 306and the palm 304. The palm 304 includes a manifold of (e.g., radial)channels 332 formed therein, capable of facing respective fasteneranchor(s) 324 when the plenum chamber 384 is formed (by, e.g., insertingthe hub 306 into the palm 304 with the plenum clearance therebetween).

As shown, the gripper system includes a plurality of inflatable fingers100. Each inflatable finger 100 may be formed as or including anelastomer body which bends under inflation in a first direction (e.g.,curling in, in a grasping direction) and, in an ambient air environment,under vacuum in a second direction (e.g., curling out, in a releasedirection), and a fluid port capable of providing pneumatic inflationand deflation (e.g., when the gripper is assembled at the terminus of arobotic arm 206, with the inflation device 120 connected to the inletport of the hub 306). The fluid port may be equal to or smaller in crosssectional area than the channels 314 (subtracting the fastener 322 a),the plenum chamber 384, and/or the hub inlet 308 and/or tubes 118 a.

Each finger 100 is housed and sealed within a finger mount 310, with arim of the finger 310 being compressible as a pneumatic and/or microbialingress seal. Accordingly, two or more finger mounts 310 each include apneumatic passage 380 capable of connecting a respective radial channel314 of the palm to a respective inflatable finger 100 (and inflatablevia the plenum chamber 384 and hub outlet(s) 316).

Each finger mount 310 is held in compression to the palm 304 by atension fastener 322 a. Each tension fastener 322 a is capable ofsecuring a respective finger mount 310 to the palm 304 (and/or hub 306)by passing through a respective pneumatic passage 380, channel 332 andthe plenum chamber 384 and fastening under tension to the fasteneranchor 324. As shown, inserted pneumatic, microbial ingress, and/ordual-function seals 402, 404, 406 are thereby compressed between thefinger mounts 310 and palm 304. In some configurations, e.g., as shownin FIG. 5B or FIG. 10, a tension fastener 322 c may extend between twofinger mounts 310 (passing through the hub 306, and/or a palm 304 to atension anchor/nut 322 d on an opposite side of the hub 306), andinserted pneumatic, microbial ingress, and/or dual-function seals 402,404, 406 may be compressed between the finger mounts 310 and hub 306.

This configuration provides various benefits and advantages. In contrastto the tool configuration shown in FIGS. 1-3, system mass is notincreased beyond that necessary for the desired gripperconfiguration—there is no unused or extra rail mass, no mass needed foradjustments that are not made after the tool is originally configured.In contrast to the tool configuration shown in FIGS. 1-3, the entiretool/gripper can be surface IP67 (or similar) sealed, e.g., no ingressof dust/complete protection against contact (dust tight), as well noingress of water in harmful quantity under immersion in water up to 1 m,as the inserted microbial ingress, and/or dual-function seals 402, 406(e.g., O-rings and/or gaskets) are compressed between the hub 306, palm304, spacers 303, and/or finger mounts 310. Moreover, in contrast to thetool configuration shown in FIGS. 1-3, the entire tool/gripper can behygienically/sanitarily configured, e.g., meeting various principles forsuch design, several noted in Table 1. With configurable T-type rails,many of these principles cannot be met.

TABLE 1 Some Sanitary Configuration Principles T-rail, adjustable, FIGS.Sanitary Concept FIGS. 1-3 4-15 All surfaces accessible for mechanicalNo Yes cleaning/treatment to prevent biofilms formation Horizontal andother surfaces prevent water No Yes pooling, are self-draining (angledor convex) Internal corners and angles have a smooth and No Yescontinuous radius at least ⅛ inch and/or angles of less than 135° Sealsprevent the ingress of microorganisms. No Yes Smooth surfaces withaverage roughness or radius No Yes of <0.8 μm (approx . . . 32 μin) infood contact area No defects, folds, breaks, cracks, crevices, No Yesinjection-molded seams, or joints, even with material transitions. Noholes or depressions. No Yes Minimum corner radius at least 3 mm. Nocorners No Yes of 90°. Risk of part loss minimized (avoid external NoYes fasteners, lock fasteners)

In part, the structure described herein, in which the component parts ofthe gripper are secured to one another by passing the tension fastenersthrough the pneumatic channels, and/or in which microbial ingress sealssurround or line all surface interfaces between hard or rigid parts andare compressed by the tension fasteners 322 a-d, permits some of thesebenefits and advantages.

Optionally, the hub 306 is formed from a metal material, such asstainless steel or aluminum, and the palm and finger mounts have avolumetric mass density less than ½ that of the robot interface of metalmaterial. Almost all plastics and polymers have a volumetric massdensity less than ½ of metals, and composites, honeycomb, hollow and/orfoamed metals may also have a (averaged) volumetric mass density belowsubstantially ½ of that of the hub material. This dens/strong center,less dense perimeter approach permits overall lower mass, highergripping payloads (heavier gripped objects) and higher translationacceleration, as well as higher angular accelerations, as the peripheralmass and moment of inertia are significantly lower.

As noted, and as shown throughout FIGS. 4-13, the gripper may use firstpneumatic seals 404, such as pneumatic O-rings, capable of insertionsurrounding each matched radial channel 332 and pneumatic passage 380,between the palm 306 and each finger mount 304. These seals or O-rings404 are compressed to maintain air and vacuum pressure. However,pneumatic seals that are not at an exterior surface of the grippercannot prevent ingress of fluids and microbes at those surfaces.Accordingly, optionally, the gripper may also include first microbialingress seals 402 capable of insertion surrounding the pneumatic seal404 (e.g., in substantially a same plane), at each interface where anouter surface of the palm 304 meets an outer surface of each respectivefinger mount 310 (or, for example, where spacers 303 meet any of thepalm 303, finger mount 301, or hub 306). The microbial ingress seals 401may be substantially in-plane with and/or parallel with the pneumaticseals 404, and compressed by the same tension fasteners 322 a as thepneumatic seals 402. In some cases, a “dual function’ seal or O-ring 406may be located to provide both pneumatic sealing and fluid ingresssealing, when the necessary location of the fluid ingress seal at theouter surface is also suitable as a pneumatic seal. In other cases, asshown in FIG. 11, a dual function gasket 406 a may extend from thepneumatic sealing location to the ingress sealing location, in the sameplane as each seal. The seals 402, 404, 406, 406 a depicted throughoutthe several Figures are not shown in every location necessary oradvantageous for food contact/ingress protection sealing or pneumaticsealing, but in exemplary locations. Locations include: at each commonmechanical interface (e.g., between a hub abutting a spacer, a hubabutting a finger mount, a hub abutting a cap; a palm abutting a spacer,a palm abutting a finger mount, a palm abutting a cap a spacer abuttinga finger mount, a spacer abutting another spacer or an adapter); betweenupper hub and palm, between lower hub and palm, between upper hub andarm interface. As used “abutting” does not exclude the engagement of thecommon mechanical interfaces via the male/female plugs.

Optionally, the hub 306 is formed as a lower hub 306 b including the(one or more, e.g., radial) outlets 316 and the (one or more) fasteneranchors 324, and an upper hub 306 a including the pneumatic inlet 308,and as shown in FIGS. 3-13, wherein the lower hub 306 b and upper hub306 a are capable of sandwiching the palm 304 therebetween (e.g., incompression, held by a tension fastener 322 b, to compress/sealpneumatic seals 404, ingress seals 402, and dual function seals 406) tocouple or connect the air path between the radial outlets 316 and thepneumatic inlet 308, each of the upper hub 306 a and lower hub 306 bcapable of sealing to the palm 304. As shown in the several Figures, thepneumatic inlet 308 is schematically depicted as a straight path with 90degree corners, but the inlet 308 may be angularly merged into the pathof a channel 308 along the length of the upper hub 306 a. Pneumaticseals or O-rings may also or alternatively be arranged in concentriclocations, sealing between a cylindrical perimeter of the upper or lowerhub 306 a, 306 b and a cylindrical inner wall of the palm 304.

Optionally, the soft robotic gripper may also include second pneumaticseals 404 capable of insertion surrounding each of the upper and lowerhubs 306 a, 306 b and capable of pneumatically sealing the upper hub andlower hub 306 a, 306 b to the palm 304; and/or second microbial ingressseals 402 capable of insertion at each interface where an outer surfaceof the palm 304 meets an outer surface of each of the respective upperhub 306 a and lower hub 306 b.

Further optionally, as shown, the fastener anchors 324 may each includea tapped hole formed in the hub 306, and the tension fasteners 322 a mayeach include an elongated member having machine screw threads, mating toa respective tapped hole. The elongated member may be a partially orentirely threaded rod, or may be a bolt.

Still further optionally, product contact areas of the finger 100 may beas smooth or smoother than substantially 32 microinch average roughness(Ra) and non product contact areas of the gripper may be as smooth orsmoother than substantially than approximately 125 microinch (Ra). Theseare suitable for food contact or adjacent areas of function.

While the foregoing description applies generally to, e.g., each ofFIGS. 4-13, to both radial (circular) and parallel configurations, thepalm 304 may be more optional in the case of a parallel arrangement suchas is shown in FIGS. 5B, 5C, 7D-7F, and 10. For example, the grippers ofthese Figures, in addition to optional configurations of the remainingFigures, show a soft robotic gripper having component parts capable ofbeing assembled in the field at the terminus of a robot arm 206, andproviding adaptive gripping of a product. As shown in, e.g., FIG. 10,the hub 306 a-306 b may be capable of mounting to the terminus of therobotic arm 206, e.g., via an adapter or arm interface 205. The hub 306a-306 b has a pneumatic inlet 308 formed therethrough leading to aplenum (tube) 384 a interconnecting outlets 316. As previouslydescribed, the fingers 100 are sealed into the finger mounts 310, andthe pneumatic passages 360 capable of pneumatically coupling (e.g., orphysically connecting) an outlet 316 of the hub 306 a-306 b to arespective inflatable finger 100. The tension fasteners 322 d(optionally 322 a) are arranged to be capable of securing a finger mount310 to the hub 306 a-306 b by passing through a respective pneumaticpassage 380 of the finger mount and an outlet 316 of the hub 306 a-306b, and fastening under tension from the finger mount 310 and in adirection of the hub 306 a-306 b.

In one example, as shown in FIGS. 5B, 5C, 7D-7F, and 10, opposedparallel finger mounts 310 may be joined by a tension fastener 322 cextending from one finger mount 310 to the opposing one, a (sealed,capped nut) fastener anchor 322 d being located in one of the opposingfinger mounts 310. Each fastener 322 c is capable of securing a pair offinger mounts 310, 310 to the hub 306 by passing through respectivepneumatic passages 380 of the pair of finger mounts 310, 310 and a pairof outlets 316, 316 of the hub 306, and fastening under tension from onefinger mount to a remaining finger mount (compressing the hub 306 andinserted pneumatic, microbial ingress, and/or dual-function seals 402,404, 406 therebetween).

With this general structure, as shared with the remaining Figures, apalm 304 may be capable of forming a plenum chamber 384 between theoutlets of the hub 306 a-306 b and the palm 304, and a manifold ofchannels 332 leading from the palm 304, wherein each pneumatic passage380 of each finger mount 310 is capable of connecting a respectivechannel 332 of the palm 304 to a respective inflatable finger 100. Asnoted, the hub 306 a-306 b may have a plurality of fastener anchors 324adjacent the outlets 316, to which the tension fasteners 322 a arecapable of being secured.

FIG. 4A, as a schematic side view, may represent radial arrangements offingers 100 (e.g., 2 or higher) as well as parallel arrangements offingers 100. FIGS. 5-14 depict alternatives, variations, and schematicsfor further explanation of the principles of the invention as discussedwith reference to FIGS. 1-4.

FIG. 5A is a schematic top view of a four-finger radial version of theconstruction shown in FIG. 4A. As shown, the hub 306 positions andarranges the fingers 100 in the selected radial distribution,distributes air pressure and/or vacuum from the upper hub 306 a viaoutlets 316, 382 through optional plenum 384 to channels 380 throughoptional palm 304, optional spacers 303, and passages in the fingermounts 310 to fingers 100. The hub 306 also includes fastener anchors324 that anchors tension fasteners 322 a passing through the pneumaticchannels and passages. Pneumatic seals 304 and microbial ingress seals302 are radially compressed by the fasteners 322 a. In thisconfiguration, the palm 304 provides a location for the plenum 384 andsufficient spacing from the central axis to mount the finger mounts 310adjacent to one another along a circle without interference.

FIG. 5B is a schematic top view of a four-finger parallel version of theconstruction shown in FIG. 10 (mounted using a hub 306 or hub/palmhaving six common mechanical interfaces). As shown, the hub 306positions and arranges the fingers 100 in the selected paralleldistribution, distributes air pressure and/or vacuum from the upper hub306 a via outlets 316, 380 through optional plenum 384 to channels 380and through optional spacers 303, and passages in the finger mounts 310to fingers 100. The fingers 310 receive fastener anchors 322 d thatanchors tension fasteners 322 c passing through the pneumatic channelsand passages. Pneumatic seals 304 and microbial ingress seals 302 arein-line compressed by the fasteners 322 a. In this configuration, thehub 306 and palm 304 may be considered unitary, or the hub 306 taking upfunctions of the palm 304, and provide a location for the plenum 384 andsufficient spacing along the parallel axis to mount the finger mounts310 adjacent to one another along a line without interference.

FIG. 5C is a schematic top view of a four-interface parallelconfiguration similar to that of FIG. 5B, and FIG. 5D is a schematic topview of a four-interface radial configuration similar to that of FIG.5A, both FIG. 5C and FIG. 5D highlighting the common mechanicalinterfaces 808. Optionally, as shown in FIGS. 5C and 5D, the palm 304 ismatched to the finger mounts 310 via a plurality of common mechanicalinterfaces 808 matching the (e.g., radial) channels 332 to the pneumaticpassages 380 (optionally via spacers 303, which have matching orcomplementary interfaces). FIG. 5C shows a configuration of a “parallel”hub 306, combined with common mechanical interfaces 808, each with amale and female matching or complementary configuration, each with anair passage 380 a therethrough (optionally surrounded by a pneumaticallysealing O-ring 404). The male and female sides of the interface 808 maybe manufactured on either side of any matching pair of components, solong as the different desired configurations may be assembled. FIG. 5Cschematically shows a female-male mount-to-hub configuration and aparallel hub, and FIG. 5D schematically shows a male-male mount-to-palmconfiguration and a radial hub, but these different configurations maybe used alternatively and interchangeably with parallel or radialhubs/palms, and even with one another, as shown.

In each of FIGS. 5C and 5D, the mechanical interface configuration isshown schematically next to the depicted part in dotted lines, withdotted lead lines showing the location of an interface. FIG. 5C shows aconfiguration in which the palm 304 and the finger mounts 310 eachincludes male “plugs” or protrusions, in which case the spacers 303 maybe extruded prism shapes, having a female “plug” or receptacles on bothsides of the spacer. In examples, the finger mounts 310 do not interfacedirectly with the palm 304, but rather use a minimum width spacer 303 or“adapter”.

FIG. 5D shows a configuration in which the palm 304 includes male“plugs” but the finger mounts 310 each includes female “plugs”, in whichcase the spacers 303 each have a male and female “plug” on oppositesides of the spacer. The finger mounts 310 may interface directly withthe palm 304, without a minimum width spacer. The spacers may bedaisy-chained (in which case so would be the inserted, compressedpneumatic, microbial ingress, and/or dual-function seals 402, 404, 406)An extrudable prism shape spacer 303 may also be used with a male-maleadapter as shown.

Accordingly, optionally, the gripper is capable of being assembled toinclude one or more spacers 303, each spacer 303 having a pneumaticinterface (808, including passage 380 a) bridging between a respectiveradial channel 332 and pneumatic passage 380. The respective tensionfasteners 332 a pass through the pneumatic interface (808, 380 a) tosecure each respective finger mount 310 to the palm 304 via the at leastone spacer 303, intervening between. Inserted pneumatic, microbialingress, and/or dual-function seals 402, 404, 406 are compressed betweenthe component parts.

FIGS. 6A through 6D show schematic top views of different exemplaryradial arrangements of palm 304, spacers 303, and finger mounts 310. Forexample, FIG. 6A shows a radial or circular four finger arrangementwithout spacers, where the finger mounts are located at 90 degreeangular intervals and compressed directly to the palm. FIG. 6B shows aradial or circular three finger arrangement without spacers, where thefinger mounts are located at 90 degree angular intervals and compresseddirectly to the palm. FIG. 6C shows a radial or circular five fingerarrangement without spacers, where the finger mounts are located at 72degree angular intervals and compressed directly to the palm. FIG. 6Dshows a radial or circular four finger arrangement with spacers 303,where the finger mounts are located at 90 degree angular intervals andspaced from the hub by spacers as well compressed with the spacers tothe palm.

FIGS. 7A through 7C show additional schematic top views of differentexemplary radial arrangements of hub 306, palm 304, spacers 303, andfinger mounts 310. For example, FIG. 7A shows a radial or circular sixfinger arrangement with spacers 303, where the finger mounts are locatedat 60 degree angular intervals and spaced from the hub by spacers aswell compressed with the spacers to the palm. For example, FIG. 7B showsa radial or circular six finger arrangement with staggered or differentlength spacers 303, where the finger mounts are located at 60 degreeangular intervals, but spaced at different distances the hub by spacersas well compressed with the spacers to the palm. It may be noted thatthis arrangement can hold a rounded triangle shape (dashed line) at sixpoints of contact.

As an example of asymmetric arrangement, FIG. 7C shows a radial orcircular six finger arrangement with both different length and bent (orstacked straight and angled) spacers, suitable for holding an arbitraryform (in this case, as an example, the form of a slice of bread having asquare portion and ‘muffin’ top). It may be noted that this arrangementholds the arbitrary bread-slice form at six points of contact—whichreduces the contact forces necessary to grasp and pick this shape bydistributing lifting about the perimeter. The bent or angled spacers andattached finger mounts may be arranged to compress the pneumatic and/ormicrobial ingress seals via the tension fasteners 322 a as discussedherein, e.g., by arranging the pneumatic channel and interface surfacesat an angle to the finger gripping surface, rather than perpendicular toit.

For example, FIG. 8A shows a parallel two finger arrangement withspacers, where the finger mounts are located at 180 degree angularintervals and the spacers and finger mounts are both compressed to thehub 306 or combined hub/palm. FIG. 8B shows a parallel four fingerarrangement with spacers, where two pairs of finger mounts are locatedat 180 degree angular intervals along a line, and the spacers and fingermounts are both compressed to the hub 306 or combined hub/palm. FIG. 8Cshows a parallel four finger arrangement with spacers, using asix-interface hub/palm, where two pairs of finger mounts are located at180 degree angular intervals along a line (but farther apart than withFIG. 8B), and the spacers and finger mounts are both compressed to thehub 306 or combined hub/palm. End caps seal the unused interfaces in themiddle of the hub/palm and are secured and compress seals with in thesame manner as the finger mounts.

FIG. 9 shows a configuration similar to that of FIG. 4A, except thatwhere FIG. 4A shows a finger mount 310 including a finger mount body 310b to which a plate-like bezel 310 a is compressed by bezel fastenersacting along the same direction as the compression, sealing theelastomer finger 100 rim by compression, FIG. 9 shows a ‘bezel-less’form where a chock 314-D is arranged with the finger body, and issecured by chock fasteners which compress the elastomer finger 100 rim.In each of the bezel 310 a forms and bezel-less form, the innerperimeter of the finger mount 310 surrounding the bottom of the finger100 at location 311 may be of slightly smaller inner diameter than theouter perimeter of the finger 100, compressing and sealing where thefinger 100 surface meets the finger mount 310 surface. In the bezel-lesschock 314-D form, the inner perimeter of the finger mount surroundingthe bottom of the finger 100 may be substantially the same size as theouter perimeter of the finger 100, with the outer perimeter of the chockarranged (sized, or angled) to compress the finger 100 against the innerperimeter of the finger mount 310. The bezel-less form maybe moreadvantageous for food contact situations, where having the fastenersoutside the direct food area, as well as retained in a manner whereloosening fasteners are less likely to fall out, is helpful.

FIG. 10 shows a configuration similar to that of FIG. 9, except that thehub 306 a-306 b may be used as alone or a combined hub-palm in aparallel configuration (or a two-finger radial configuration), withspacers and/or finger mounts 310 being compressed to the hub orhub-palm. A tension fastener 322 c may extend between two finger mounts310 (passing through the hub 306, and/or a palm 304 to a tensionanchor/nut 322 d on an opposite side of the hub 306), and insertedpneumatic, microbial ingress, and/or dual-function seals 402, 404, 406may be compressed between the finger mounts 310 and hub 306. No spacersare shown in FIG. 10, but spacers 303 may be used in this configurationas discussed herein.

FIG. 11 shows a configuration similar to that of FIG. 4A, except thatcertain of the microbial ingress seals 402 and pneumatic seals that arein-plane are combined into a dual function gasket 406 a form, the gasket406 a having inner features that seal pneumatically and outer featuresthat provide microbial ingress sealing. The gasket 406 a is compressedin the same manner as the independent seals 402, 404, 406 discussedherein.

FIG. 12 shows a configuration similar to that of FIG. 9, except for theprovision of a palm or bumper plate 506 a that is sealed vs. microbialingress (via O-rings) in the same manner as the spacers 303. The bumperplate 506 a may conform to the sanitary guidelines discussed in Table 1.As shown in FIG. 12, the gripper may include a palm plate 506 a againstwhich a food object may be held by the fingers 100. The palm plate 506 amay be spaced from the hub 306 and/or palm 304 by a spacer 506 b.Generally, although not exclusively, as used herein, the terms “baseplate”, “palm plate”, “bumper plate”, or “hub plate” may refer to areference surface adjacent two or more soft robotic members againstwhich the soft robotic member may in some cases hold a work object,e.g., when curled in a “closing” direction, and from which the grip ofthe soft robotic members 100 on the work object may be released, e.g.,when the soft robotic members are curled or recurled in an “opening”direction. The use of “plate” does not suggest that the member is fullyplanar—“plates”, unless otherwise described, may have surface relief,contour, curves, peaks and valleys, texture, or the like—a “plate”,unless otherwise described, describes a member fitting within aplate-like envelope or aspect ratio.

FIG. 13 shows a configuration similar to that of FIG. 9 or 12, exceptfor the provision of a sensor housing 606 that may be sealed vs.microbial ingress (via O-rings) in the same manner as the spacers 303and/or bumper plate 506 a. The sensor housing 606 may includeillumination 606 e (infrared, visible light, UV for fluorescing, and orstructured light for ranging), camera(s) 606 a (monochrome, color,stereoscopic, RGBD, and/or triangulation, contrast-based, time-of-flightor phase difference ranging), batteries 606 b, a sensor package(including, for example, inertial or accelerometer sensors, temperature,angular acceleration or gyroscopes, humidity, gas type, magnetic,capacitive, inductive), and a controller 606 c connected to all of theremaining elements as well as to an on-board antenna for communicatingwirelessly and externally (e.g., Wi-Fi, Bluetooth, low-power 802.15 PAN,mesh network). The sensor housing may be used to detect relativelocation or acceleration of the gripper environmental conditions,product conditions, status, or presence; failure modes of the gripper;commercial counts and exceptions. Although the sensor package 606 shownis wireless and battery-powered in view of the availability of long-lifewireless “IOT” sensing and the relative ease of sealing an independenthousing for food contact, it may also be tethered with power and signalcables (optionally food-contact rated).

FIG. 14 shows a configuration similar to those of FIGS. 4-13, exceptincluding an extendible vacuum cup effector 701 and camera. A camera 704configuration is discussed herein with respect to FIG. 13. FIG. 14 showsa similar system in which an extendible vacuum cup effector 701,extendible via a linear actuator and extension arm 702, is arrangedsubstantially along a center line of the gripper, and in which a camera704 is similarly arranged substantially along a center line of thegripper. This configuration may be combined with any of the following orpreceding examples.

FIG. 15A is a schematic side view of a field-assembled soft roboticgripper similar to that of FIGS. 9 and 10 employing an internalpneumatic coupling with paired radial seals. The gripper(s) andstructures shown in FIGS. 15A-22 are contemplated to be used togetherwith the preceding description and disclosure herein, including but notlimited to control structures and acts, motion control, motionstructures, robot arms, fasteners, and interfaces.

In contrast to FIGS. 9 and 10, the gripper shown in FIG. 15A employs atubular coupling 501 having radial pneumatic seals, e.g., in the form ofcircumferential O-rings 404 a. The tubular coupling is accepted into areceiving inset 310 f on the finger mount 310 side, and a correspondingreceiving inset 306 f of the hub 306 a-306 b side. As shown, spacers 303a may include a passage through which the tubular coupling 501 passes,and the spacers 303 a may be sealed for microbial ingress via seals 402as previously described. The spacers 303 a and/or finger mounts 310 maybe compressed to the hub or hub-palm via a tension fastener 322 c thatmay extend between two finger mounts 310 (passing through the hub 306,and/or a palm 304 to a tension anchor/nut 322 d on an opposite side ofthe hub 306). Inserted microbial ingress, and/or dual-function seals402, 406 may be compressed between the finger mounts 310 and hub 306.The circumferential seals 404 a are not compressed by the tensionfastener 322 c, but by the inner cylindrical wall of the receivinginsets 310 f and 306 f. The tubular coupling 501 may be provided invarious lengths, e.g., slightly longer than various lengths of spacers303 a, to match spacer lengths 303 a. The end faces of the tubularcoupling 501 need not be completely finished, as the pneumatic sealingis provided about the tube outer wall rather than the end face(s).Accordingly, the tube coupling 501 may be cut to length on site. Asshown, the tube coupling 501 is shorter than the combined length of thereceiving inserts 310 f, 306 f and the internal passage of the spacer303 a.

The pneumatic coupling 501 or plug 501, with two radial seals 404 a inseries, may improve seal quality and repeatability vs. some forms offace sealing. As shown the outer perimeter of the finger module 310 maybe ingress sealed to achieve a high or food-grade “IP” (ingressprotection) rating. By controlling the tolerance on the innercylindrical wall of the receiving insets 310 f, 306 f, the outer walldiameter of the tube coupling 501, and the O-ring seals 404 a, thepressure retained by the seals 404 a is not affected by the compressionof the tension fastener 322 c, and may be well controlled for actuatorcycle life, pneumatic seal quality, and ingress protection via the seals402. In addition, these tolerances may be combined among various partsmanufactured with some variability to meet an overall tolerance.

FIG. 15B is a schematic side view of a field-assembled soft roboticgripper similar to that of FIG. 15A, employing an internal pneumaticcoupling with paired radial seals in a slidably adjustableconfiguration. As shown in FIG. 15B, the receiving inlets 310 f (on thefinger mount 310 side) and 306 f (on the palm 304 and/or hub 306 side)are sufficiently deep to receive the coupling 501 with some clearance ateach end. A connecting plate 309 connects the finger mount 310 and hub306 b or palm 304. A groove 309 a within the plate 309 sets andadjustment range and the plate 309 slides via the groove 309 a relativeto a fastener 322, and permits the finger mount 310 to be moved in alimited range, guided, relative to the hub 306 b or palm 304. In alllocations, the dual radial seals 404 a maintain the relative inner andouter cylindrical wall diameters and concentricity between the coupling501 and the receiving inlets 310 f and 306 f, and the pneumatic sealingamong the channels 316 (hub), 314 (palm), and 380 (spacer or fingermount).

The adjustability of the arrangement in FIG. 15B is suitable for EOATsthat may benefit from fine tuning for finger 100 position between thehub 306 or palm 304 and the finger mount 310 (or “manifold”). A slidetype element 309 a provides linear motion and position locking viafastener 322. The pneumatic coupling 501 may itself move or slide. Asshown, the plate 309 connects to the finger base 310 b, butalternatively the plate 309 may connect to a bezel 310 a. The twodesigns may eliminate tubing or fitting at each finger and allow forcentral air distribution.

Alternatively, the adjustable arrangement may use spacers or adjustmentadd-ons similar to spacers 303 f-f at the end of a coupling 501 orextended reach coupling 501 to adjust distances. Further alternatively,the adjustable arrangement may use a split clamp (which may be tightenedto secure a distance) upon the finger mount 301 accepting an adjustmentspoke or shaft extending from the hub 306 or palm 304. The radialsealing coupling between the finger mount 310 and hub 306 or palm 304allows for actuator position adjustments. Because the sealing is radial,by locking/unlocking a clamping element, the finger mount 310 may berepositioned without losing the pneumatic seal. The repositioning may bedone dynamically during a pick operation, or as part of a multi-size kitfor varying product Eliminating exposed tubing and fittings using thesealing structures disclosed herein may permit a high sanitaryapplication for the adjustable arrangement.

FIGS. 15C, D, and E are schematic side views of a field-assembled softrobotic gripper similar to that of FIG. 15A, employing respectively anair puff block, an extensible vacuum cup block, and a sensor blocktogether with internal pneumatic couplings with paired radial seals. Asshown, an add-on air puff block 705 can route the coupling 501 throughan internal channel as well as a second source of air via internalpassages to a nozzle 706. The second source of pulsed air can be usedfor part blow off (particulates, moisture, extra parts, etc.) or infinger cleaning in sustained or intermittent air blasts.

Further, as shown, an add-on suction cup block can add an suction cup702 connected to a suction supply and provided with an independentextensible linear actuator 701 to assist with picking packed objects.Still further, an add-on sensor block can similarly route the coupling501 through an internal channel and wiring and circuits internally, andcan be used for industrial sensors 704 such as photo-electric,capacitance, camera, range finder, etc. to provide grip detection, partpresent detection, etc.

FIGS. 16A, 16B, 16C, and 16D are schematic side views of a variety ofspacers and pneumatic couplings used in FIGS. 1-15, employingrespectively a straight air passage, a filter, a flow constriction, andvibration baffles or damping. In FIGS. 16, 17, and 19, “SIDE” indicatesa schematic side view, “SIDE-X” indicates a side view in schematiccross-section, and “END” indicates an end view of an adjacent “SIDE” or“SIDE-X” view.

As shown in FIGS. 16A-16D, one role of the spacer 303 or tubularcoupling 501 is to permit finger mounts 310 to be connected to a palm304 optionally at different distances, and optionally in a manner thatpermits the same fastener(s) to secure and compress both pneumatic seals404, 404 a and ingress seals 402. Each of the spacer 303 or coupling 501may act as a channel member including a pneumatic channel capable ofconnecting the pneumatic passage through the finger mount (or anotherspacer) and a respective outlet from the hub and/or palm (or anotherspacer), the pneumatic channel surrounded by the two compressiblepneumatic seals 404, 404 a.

As shown in FIG. 16A, air channels within coupling 501 and spacer 303f-f may pneumatically seal and route air between the palm 304 (or hub306) and finger mounts 310. As noted herein, the coupling 501 or spacer303 f-f may be of varying lengths to allow for different grip spacing.Each element is sealed with at least one pneumatic seal 404, 404 a ateach end. In FIG. 16A, the pneumatic radial seals 404 a are shown atboth ends. For the spacers 303 f-f, pneumatic end seal 404 is shownseated in O-ring groove 404 b, with ingress seal 402 seated in O-ringgroove 402 a. Tension fasteners 322 pass through the air channelsthrough the spacer 303 f-f, and in one example, through the coupling501. The female interface 408 f may receive a matching male interface408 m (not shown) on the palm 304 and/or finger mount 310.

As shown in FIG. 16B, a filter 601 may be seated within the pneumaticpassage through tubular coupling 501 or through spacer(s) 303 f-f. Twomatched spacers 303 f-f are shown here to receive and seal the filter601 (ingress seals 402 are shown between the matched spacers 303 f-fwhile pneumatic seals 404, are not, but pneumatic seals 404 may be usedto seal the flow restrictor 602 as well). In the case of the tubularcoupling 501, the filter 601 cleans the air flowing within the airchannel, and in the case of the spacer 303 f-f, about the air channelfastener 322 a. The filter 601 may remove debris in applications where afinger 100 rip or tear may lead to contamination which may damage thecontrol unit 132,

As shown in FIG. 16C, a flow restrictor 602 such as a diaphragm or thindisk with aperture may be seated within the pneumatic passage throughtubular coupling 501 or through spacer(s) 303 f-f. Two matched spacers303 f-f, seals 402, 404, 404 a are used here in the same manner as FIG.16B to receive and seal the flow restrictor 602. In the case of thetubular coupling 501, the flow restrictor 602 throttles flow within theair channel, and in the case of the spacer 303 f-f, about the airchannel fastener 322 a. The flow restrictor 602 may adjust timing forfinger 100 opening or closing for multiple fingers 100. For example, ina 6 finger EOAT, the application may need specific fingers 100 to openor close first or last, and inserting one or more flow restrictors 602may retard the opening or closing of one or more fingers.

As shown in FIG. 16D, a flow dampener 603 such as flexible and/or rigidbaffles, and/or other dampener, may be seated within the pneumaticpassage through tubular coupling 501 or through spacer(s) 303 f-f. Twomatched spacers 303 f-f, seals 402, 404, 404 a are used here in the samemanner as FIGS. 16B and 16C. In the case of the tubular coupling 501,the flow dampener 603 throttles flow within the air channel, and in thecase of the spacer 303 f-f, about the air channel fastener 322 a. Theflow dampener 603 may reduce bounce or wiggle upon inflation of fingers100, by changing air path lengths and/or resonant frequencies.

FIGS. 17A, B, and C are schematic side views of a variety of spacersused in FIGS. 1-15, employing respectively a female-female coupling andsealing, a female-male coupling and sealing, and a dual fastenerconfiguration.

As shown in FIG. 17A, air channels within female-female spacer 303 f-fmay pneumatically seal and route air between the palm 304 (or hub 306)and finger mounts 310. Each element is sealed with at least onepneumatic seal 404 at each end (only one end shown here with seals andcorresponding receiving grooves, the structure repeats in series). Forthe spacers 303 f-f, pneumatic end seal 404 is shown seated in O-ringgroove 404 b, with ingress seal 402 seated in O-ring groove 402 a.Tension fasteners 322 a pass through the air channels through the spacer303 f-f. The female interface 408 f may receive a matching maleinterface 408 m (not shown) on the palm 304 and/or finger mount 310.This spacer 303 f-f may be connected end-to-end to another with amale-male adapter.

As shown in FIG. 17A, air channels within female-male spacer 303 f-m maypneumatically seal and route air between the palm 304 (or hub 306) andfinger mounts 310. Each element is sealed with at least one pneumaticseal 404 at each end (ingress and pneumatic seals and receiving groovesshown at opposing ends here, the structure repeats in series). For thespacers 303 f-m, pneumatic end seal 404 is shown seated in O-ring groove404 b, with ingress seal 402 seated in O-ring groove 402 a. Tensionfasteners 322 a pass through the air channels through the spacer 303f-f. Each interface 408 f, 408 m may receive a matching interface on thepalm 304 and/or finger mount 310. This spacer 303 f-m may bedaisy-chained with other 303 f-m spacers.

As shown in FIG. 17C, air channels within female-female spacer 303 f-m′may pneumatically seal and route air between the palm 304 (or hub 306)and finger mounts 310. Each element is sealed with at least onepneumatic seal 404 at each end (only one end shown here with seals andcorresponding receiving grooves, the structure repeats in series). Forthe spacers 303 f-m′, pneumatic end seal 404 is shown seated in O-ringgroove 404 b, with ingress seal 402 seated in O-ring groove 402 a.Paired tension fasteners 322 a may pass through the spacer 303 f-madjacent the air channel. The female interface 408 f may receive amatching male interface 408 m on the palm 304 and/or finger mount 310.This spacer 303 f-m may be connected end-to-end to another with amale-male adapter.

FIGS. 18A through 18E are schematic perspective views of afield-assembled soft robotic gripper similar to that of FIGS. 9, 10, 15Aand 15B.

FIGS. 18A, 18B, and 18C show shorter, medium, and longer finger mounts310. In particular, FIG. 18B shows a medium or standard size fingermount 310 in perspective, while FIG. 18D shows the same medium fingermount 310 in cross section. As shown in FIGS. 18B and 18D, and similarto the gripper shown in FIG. 15A, the finger mount 310 employs a tubularcoupling 501 having radial pneumatic seals, e.g., in the form ofcircumferential O-rings 404 a. The finger 100 in this example is, asdisclosed herein, secured and sealed to the bezel 310 a via fasteners310 c. The tubular coupling 501 is accepted into a receiving inset 310 fon the finger mount 310 side, and a corresponding receiving inset 306 fof the hub 306 a-306 b side. The finger mounts 310 may be compressed tothe hub 306 or hub-palm 306-304 via a tension fastener. Insertedmicrobial ingress, and/or dual-function seals 402, 406 may be compressedbetween the finger mounts 310 and hub 306 or hub/palm 306/304. Thecircumferential seals 404 a are not compressed by the tension fastener323, but by the inner cylindrical wall of the receiving insets 310 f and306 f. The tubular coupling 501 may be provided in lengths to match theinner cylindrical walls of the receiving insets 310 f and 306 f.

As shown in FIG. 18B, the two sides form an interface 808, in which thefasteners 323 may be concentrically arranged within male plugs or pilotprotrusions 310 d, which permit the finger mount 310 to be held tocorresponding female plugs or pilot receptacles 306 g (see FIGS.19A-19C) on the hub 306 or hub/palm 306/304, and which may resist shearbetween the finger mount 310 and hub/palm 306/304. As shown in FIGS. 18Band 18D, the fingers 100 each include a substantially sinusoidal crosssectional profile 102 on the expanding/compression bellows side, andridges 101 on the gripping side. Within the ridges 101 may be stiffeningbars that resist bowing of the gripping surface about to the curlingdirection (e.g., maintain the gripping side as a flat but curlingsurface).

FIGS. 18A and 18C show shorter and longer finger mounts 310, which maybe selected alternative to the medium length finger mount 310, ortogether with the medium length finger mount 310, to field-assemble agripper of custom shape and size as shown, for example, in FIGS.20A-20D.

As shown in FIG. 18E, in one embodiment a keel or bumper plate 506 c maybe provided adjacent the finger 100, mounted upon the finger base 310 b.The keel or bumper plate 506 c is similar to that discussed withreference to FIG. 12, providing a substantially rigid (not excludinghard rubber or elastomer surface) surface against which a soft articlemay be pressed by a finger 100. The keel or bumper plate may also beprovided to the adjustable embodiment of FIG. 15B, and may be integralto the bezel 310 a or finger mount 310 b.

FIGS. 19A, B, and C are schematic side views of a variety of interfacesfor finger modules used in FIGS. 9, 10, 15A, 15B, and 18A-18E, employingrespectively a pneumatic coupling connection with paired radial seals, adirect connection without pneumatic coupling, and a pneumatic couplingwith paired radial seals via a spacers.

The interface shown in FIG. 19A is similar to that shown in FIGS.18A-18E, and employs a tubular coupling 501 having radial pneumaticseals, e.g., in the form of dual circumferential O-rings 404 a about theouter wall of the cylindrical tube 501. The tubular coupling is acceptedinto a receiving inset 310 f on the finger mount 310 side, and acorresponding receiving inset 306 f of the hub 306 a-306 b side. Asshown, the interface may be sealed against microbial ingress at seals402 (seated in grooves 402 a), and pneumatically sealed at seals 404 a,404 a. The pilot protrusion 310 d are accepted into receptacles 306 gfor assembly and resisting shear.

The interface shown in FIG. 19B is a simplified version of that shown inFIG. 19A, lacking the tubular coupling. Instead, pneumatic seals 404(accepted in groove 404 b) surround the pneumatic channels at theinterface. As shown, the interface may be sealed against microbialingress at seals 402 (seated in grooves 402 a). The pilot protrusion 310d are accepted into receptacles 306 g for assembly and resisting shear.

The interface shown in FIG. 19C is similar to that shown in FIG. 19A,but allows for a surrounding spacer 303 f-f tube so that a spacer may beused together with the radial seals 404 a and coupling 501, e.g.,similar to FIG. 15A. As shown, the spacer 303 f-f are formed as asimple, e.g., extruded channel or rectangular tube through which the(long) tubular coupling 501 passes, and the spacers 303 a may be sealedfor microbial ingress via seals 402, accepted in grooves 402 a aspreviously described. The spacers 303 a and/or finger mounts 310 may becompressed to the hub or hub-palm via a tension fastener 323 (in thiscase, a threaded rod and nut, which may be used in any case hereinshowing a bolt) that may extend from a finger mounts 310 to a tensionanchor 322 d on the hub 306 or hub/palm 306/304. The microbial ingress402 may be compressed between the finger mounts 310 and hub 306. Thecircumferential seals 404 a are not compressed by the tension fastener323, but by the inner cylindrical wall of the receiving insets 310 f and306 f. As shown, the tube coupling 501 is shorter than the combinedlength of the receiving inserts 310 f, 306 f and the internal passage ofthe spacer 303 a. The pneumatic coupling 501 with two radial seals 404 ain series performs as discussed with respect to FIG. 15A and otherwiseherein.

FIGS. 20A through 20D are schematic perspective views of a variety offield-assembled soft robotic grippers, including differentsize/interface palms and finger modules. FIG. 20A shows a square palm,suitable for two finger lateral or four-finger symmetrical or “circular”tools, combined with shorter and longer finger mounts 310 to form a toolor gripper for picking long articles. FIG. 20B shows a long rectangularpalm, suitable for six finger lateral or eight-finger “oval” tools,combined with shorter and longer finger mounts 310 to form a tool orgripper for picking large articles. FIG. 20C shows a medium rectangularpalm, suitable for four finger lateral or six-finger “oval” tools,combined with shorter and longer finger mounts 310 in an offset fashionto form an offset tool or gripper for picking articles that may beheavier at one end 9. FIG. 20D shows a stepwise, wide-to-narrow palm,combined with several similar finger mounts 310 in an offset, staggeredfashion to form an offset, staggered tool or gripper for pickingarticles that may be heavier as well as wider at one end. FIG. 20D alsoshows internal pneumatic routing, represented semi-transparently, whichmay be used in each case in FIGS. 20A-20D. In each case, unusedpneumatic interfaces for finger mounts 310 may be blocked by a“block-off plate” (not shown) instead of a finger mount 310. Theblock-off plate may have pilots, fasteners and an insert plug sealedwith a similar radial seal to block off air flow.

As shown, utilizing single finger modules and a variety of mountingblocks allows rapid field assembly of EOAT (“End Of Arm Tooling”) frombuilding blocks. The use of direct surface mounting blocks with airfittings and tubing allows for single finger modules to be fastened to astructural palm to create a custom EOAT together with compatiblepedestal or hub designs.

FIG. 21 is a set of schematic perspective views of a variety offield-assembly compatible mounting interfaces capable of adapting themodular interface to different mountings, including direct mounting tocustom mounts and to T-slot or V-slot extruded rail systems. As shown,the use of components designed to interface with T-slot or V-slotextrusions (e.g., 20 mm “80/20”) extrusions allows for easy adjustmentof finger positions.

As discussed herein, a palm is positionable adjacent the article to begripped and provides an inner space toward which fingers may flex orcurl, and a hub provides a substantially central node for connectingfingers, a palm, and/or air paths. In cases where these functions areshared by a structure or assembly, either word may be appropriate.

FIG. 22 includes a flowchart describing an assembly method for thegrippers (EOAT) discussed herein, for assembling a soft robotic gripperto provide adaptive gripping of a product. As shown in FIG. 22, in stepS02, a finger mount 310 is arranged including a passage 380 capable ofconnecting to the fluid port together with a hub 306, 304, 304/306having a pneumatic inlet formed therethrough leading to a plurality ofoutlets 316. The passage 380 of the finger mount 310 may be connect witha respective outlet of the hub 306, 304, 304/306 via a channel member303, 510 including a pneumatic channel 380, 380 a. In step S04, acompressible pneumatic seal 404 may be arranged toward each end of thepneumatic channel 380 a and/or channel member 501, 303. In step S06, thefinger mount 310, channel member 501, 303, and hub 306, 304, 304/306 maybe connected. The finger mount 310 may be secured to the hub 306, 304,304/306 in compression using a tension fastener 322, 323 in step S10 toseal the pneumatic channel 380, 380 a with both pneumatic seals undercompression in step S08 (e.g., axial or radial compression). As shown,in FIG. 22, the compression step S08 and fastening/securing step S10 maytake place substantially simultaneously. Optionally, in steps subsequentto FIG. 22, the hub 306, 304, 304/306 may be mounted to the terminus ofa robotic arm 206, and the inflatable fingers 100 may be pneumaticallyactuated via the pneumatic channels/passages 380, 380 a to bend underinflation in a first direction and under vacuum in a second direction.

Optionally, as indicated in FIG. 22 by a dashed line in step S12,microbial ingress seals 402 may be inserted surrounding (e.g., having alarger diameter than, and along a parallel plane to) one of the twopneumatic seals 404, at each interface where an outer surface of the hub306, 304, 304/306 meets an outer surface of each respective finger mount310. The microbial ingress seals 402 may be compressed (e.g., axially,and/or within an accepting groove 402 a) between the hub 306, 304,304/306 and each finger mount 310, optionally via the tension fastener322, 323.

If the channel member includes a cylindrical tube, such as coupling 501,in step S08 one of the pneumatic seals 404, 404 a may be compressed(e.g., radially) between an outer cylindrical wall of the tube 501 andan inner cylindrical wall of a receiving receptacle 310 f in the fingermount 310. The remaining one of the pneumatic seals 404, 404 a may becompressed (e.g., radially) between an outer cylindrical wall of thetube 501 and an inner cylindrical wall of a receiving receptacle 306 fin the hub 306, 304, 304/306.

Optionally, in step S08 and/or step S12, the tension fastener 322, 323may be passed through a respective pneumatic passage 380, 380 a of thefinger mount 310 and an outlet or passage 316 of the hub 306, 304,304/306. In a case where the channel member includes a spacer 303, instep S08, S10, and/or step S12, tension fasteners 322, 323 may be passedthrough the channel 380, 380 a to secure a respective finger mount 310to the hub 306, 304, 304/306 via the at least one spacer 303.

FIG. 23 shows a schematic view of the gripper solutions discussed hereintogether with a robot arm 206, similar to FIG. 2C, although fluidrouting for the gripper fingers 100 is now internal to the gripper.

As shown in FIG. 23, an assembled gripper may be secured to anindustrial or collaborative robot (e.g., robotic arm). An inflationdevice 120 may include a fluid supply 126, and a fluid delivery device128, such as a pump or compressor, for supplying inflation fluid fromthe fluid supply 126 to the actuator 100 through the flexible tubing118. The fluid delivery device 128 may be capable of supplying fluid tothe actuator 100 or withdrawing the fluid from the actuator 100. Thefluid delivery device 128 may be powered by electricity.

The power supply 130 may also supply power to a control device 132. Thecontrol device 132 may allow a user or programmed routine to control theinflation or deflation of the actuator, e.g. through one or moreactuation buttons 134 (or alternative devices, such as a switch), or viaexecutable code stored in memory or otherwise transmitted to or madeaccessible by controller 136. The control device 132 may include thecontroller 136 for sending a control signal to the fluid delivery device128 to cause the fluid delivery device 128 to supply inflation fluid to,or withdraw inflation fluid from, the actuator 100.

Certain Definitions

End effector: may be the device at the end of a robotic arm, designed tointeract with the environment, and/or may be the last link (or endpoint)of the robot. At an endpoint, tools may be attached; or, the endeffector may itself act as a tool. An end effector may include one orboth of a gripper or a tool.

Gripper: an end of arm gripper tends to hold, lift, transport and/ormanipulate objects.

Tool: An end of arm tool may change a characteristic of the work objectrather than gripping or holding it. Tool functions may include weldingor fusing, spraying, dispensing, milling, screw or nut driving,flattening, cutting, and combinations of these.

Impactive end effector: grasping a work object by direct impact,including holding friction, e.g., jaws, claws, grippers.

Ingressive end effector: penetrating the work object, e.g., withneedles, pins, or hackles.

Astrictive end effector: holding a work object by essentially attractiveor field forces, e.g., such as Bernoulli lift, suction force, vacuumforce, magnetic, electrostatic, van der Waals', ultrasonic standingwaves, laser tweezing.

Contigutive holding a work object by essentially adhesive forces, e.g.,via capillary action, glue, surface tension, freezing, chemicalreaction.

Soft robotic gripper members may be formed of elastomeric materials,such as rubber, and/or thin walls of plastic arranged in an accordionstructure that is configured to unfold, stretch, and/or bend underpressure, or other suitable relatively soft materials. Soft roboticgripper members may include a channel and/or hollow interior that can befilled with a fluid, such as air, water, or saline to pressurize,inflate, and/or actuate the gripper member. Upon actuation, the shape orprofile of the gripper member changes by, e.g., variably curving,curling, including in opposing directions, or straightening.Alternatively or in addition, the gripper member may be actuated using avacuum to remove inflation fluid from the gripper member and therebychange the degree to which the gripper member bends, twists, and/orextends.

Actuation may also allow the gripper member(s) to exert a force on aworkpiece, such as a workpiece being grasped or pushed, as well aspartially or fully conforming to the shape of the workpiece beinggrasped. Soft robotic gripper members can also harmlessly deflect uponcollision with workpieces or the work environment.

GENERAL NOTES ON TERMINOLOGY

“In one embodiment”, “in an embodiment”, “in some examples” or the likemeans “in at least one embodiment”, not necessarily all referring to thesame embodiment, and usable together in any combination in variousembodiments. This description should not to be interpreted as reflectingan intention that the claimed embodiments require more features than areexpressly recited in each claim. Rather, as the following claimsreflect, inventive subject matter lies in less than all features of asingle disclosed embodiment.

With reference to food product contact and ingress protection, referenceis made to the following websites, which are herein incorporated byreference in their entireties:

https://automation-insights.blog/2018/03/07/hygienic-vs-washdown/

https://www.meatinstitute.org/index.php?ht=a/GetDocumentAction/i/97261

What is claimed is:
 1. A soft robotic gripper having component partscapable of being assembled at the terminus of an industrial robot armfor providing adaptive gripping of a product, the soft robotic grippercomprising: a hub capable of mounting to the terminus of the roboticarm, the hub having a pneumatic inlet formed therethrough leading to aplurality of outlets; and a plurality of finger mount assembliespneumatically coupled to respective outlets, each finger mount assemblyhaving: an inflatable finger having an elastomer body that receivespneumatic inflation and vacuum via a fluid port and bends underinflation in a first direction and under vacuum in a second direction, afinger mount including a pneumatic passage capable of connecting to thefluid port, a channel member including a pneumatic channel capable ofconnecting the passage and a respective outlet, two pneumatic sealscapable of insertion surrounding the pneumatic channel of the channelmember, and a tension fastener capable of securing the finger mount tothe hub, wherein securing the finger mount via the tension fastenerseals the pneumatic channel with the first pneumatic seal and the secondpneumatic seal under compression.
 2. The soft robotic gripper accordingto claim 1, wherein the hub is formed from metal material, and thespacers and finger mounts each have a volumetric mass density less than½ that of the hub of metal material.
 3. The soft robotic gripperaccording to claim 1, further comprising first microbial ingress sealscapable of insertion surrounding one of the two pneumatic seals, at eachinterface where an outer surface of the hub meets an outer surface ofeach respective finger mount, compressed between the hub and each fingermount.
 4. The soft robotic gripper according to claim 1, wherein productcontact areas of the finger are as smooth or smoother than substantially32 microinch average roughness (Ra) and non product contact areas of thegripper as smooth or smoother than substantially than approximately 125microinch (Ra).
 5. The soft robotic gripper according to claim 1,wherein the channel member includes a cylindrical tube, and one of thepneumatic seals is compressed between an outer cylindrical wall of thetube and an inner cylindrical wall of a receiving receptacle in thefinger mount, and the remaining one of the pneumatic seals is compressedbetween an outer cylindrical wall of the tube and an inner cylindricalwall of a receiving receptacle in the hub.
 6. The soft robotic gripperaccording to claim 5, wherein the tension fastener passes through arespective pilot protrusion of the finger mount and pilot receptacle ofthe hub, and fastens under tension from the finger mount and in adirection of the hub.
 7. The soft robotic gripper according to claim 1,wherein the tension fastener passes through a respective pneumaticpassage of the finger mount and an outlet of the hub, and fastens undertension from the finger mount and in a direction of the hub.
 8. The softrobotic gripper according to claim 1, wherein the hub is matched to thefinger mounts via a plurality of common mechanical interfaces matchingthe outlets to the pneumatic passages, and the channel member comprisesat least one spacer, each spacer having a pneumatic interface bridgingbetween a respective outlet and pneumatic passage, a respective tensionfastener passing through the pneumatic interface to secure a respectivefinger mount to the hub via the at least one spacer, the at least onespacer compressed between the respective finger mount and the hub. 9.The soft robotic gripper according to claim 8, further comprising: apalm capable of forming a plenum chamber between the outlets of the huband the palm, and a manifold of channels leading from the palm, whereineach pneumatic passage of each finger mount is capable of pneumaticallycoupling a respective channel of the palm to a respective inflatablefinger.
 10. The soft robotic gripper according to claim 9, the hubhaving a plurality of fastener anchors adjacent the outlets, to whichthe tension fasteners are capable of being secured.
 11. The soft roboticgripper according to claim 8, wherein each tension fastener is capableof securing a pair of finger mounts to the hub by passing throughrespective pneumatic passages of the pair of finger mounts and a pair ofoutlets of the hub, and fastening under tension from one finger mount toa remaining finger mount, compressing the hub between the one fingermount and the remaining finger mount.
 12. The soft robotic gripperaccording to claim 8, wherein the fastener anchors each comprise atapped hole formed in the hub, and the tension fasteners each comprisean elongated member having machine screw threads, mating to a receivingfastener.
 13. A method for assembling a soft robotic gripper to provideadaptive gripping of a product, the method comprising: arranging afinger mount including a passage capable of connecting to a fluid porttogether with a hub having a pneumatic inlet formed therethrough leadingto a plurality of outlets; connecting the passage of the finger mountand a respective outlet of the hub via a channel member including apneumatic channel and a cylindrical tube; arranging a compressiblepneumatic seal toward each end of the pneumatic channel; and compressingone of the pneumatic seals between an outer cylindrical wall of the tubeand an inner cylindrical wall of a receiving receptacle in the fingermount, and compressing a remaining one of the pneumatic seals between anouter cylindrical wall of the tube and an inner cylindrical wall of areceiving receptacle in the hub securing the finger mount to the hub incompression using a tension fastener to seal the pneumatic channel withboth pneumatic seals under compression.
 14. The method according toclaim 13, further comprising: mounting the hub to a terminus of arobotic arm; and pneumatically actuating the inflatable finger via thepneumatic channel to bend under inflation in a first direction and undervacuum in a second direction.
 15. The method according to claim 13,further comprising: inserting first microbial ingress seals surroundingone of the two pneumatic seals, at each interface where an outer surfaceof the hub meets an outer surface of each respective finger mount; andcompressing the first microbial ingress seals between the hub and eachfinger mount.
 16. The method according to claim 13, further comprising:passing the tension fastener through a respective pilot protrusion ofthe finger mount and pilot receptacle of the hub.
 17. The methodaccording to claim 13, further comprising: passing the tension fastenerthrough a respective pneumatic passage of the finger mount and an outletof the hub.
 18. The method according to claim 13, wherein the hub ismatched to the finger mounts via a plurality of common mechanicalinterfaces matching the outlets to the pneumatic passages, and thechannel member comprises at least one spacer, each spacer having apneumatic interface bridging between a respective outlet and pneumaticpassage, and further comprising: passing a respective tension fastenerthrough the pneumatic interface to secure a respective finger mount tothe hub via the at least one spacer; and compressing the at least onespacer between the respective finger mount and the hub.
 19. The methodaccording to claim 18, further comprising: pneumatically coupling arespective channel of a palm to a respective inflatable finger via apneumatic passage of each finger mount, the palm capable of forming aplenum chamber between the outlets of the hub and the palm, and amanifold of channels leading from the palm.